Path tracking control for underactuated autonomous underwater vehicles using approach angle

Kyoung Joo Kim, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, we propose a novel path tracking control algorithm for an underactuated autonomous underwater vehicle (AUV). The underactuated AUV is controlled by the thrust force and the yaw torque: no sway thruster is used. To deal with this underactuated AUV problem in the path tracking, we introduce an approach angle which makes the AUV converge to the reference path. To design the path tracking controller, we obtain the vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on the dynamic surface control (DSC) method. The proposed controller only needs the information of the position and the heading angle of the reference path. Some simulation results demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Pages (from-to)760-766
Number of pages7
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Issue number4
Publication statusPublished - 2012 Apr

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Computer Graphics and Computer-Aided Design
  • Electrical and Electronic Engineering
  • Applied Mathematics


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